CN-122008172-A - Bionic joint mechanism based on knee joint movement mechanism

Abstract

The invention discloses a bionic joint mechanism based on a knee joint movement mechanism, and belongs to the technical field of bionic machinery. The bionic joint mechanism comprises two four-cable stretching supporting units which are symmetrically arranged at two sides, a femur-simulating outline moving component which is arranged between the two four-cable stretching supporting units, and a bilateral linkage mechanism and a drum curved surface matching mechanism which are matched with the femur-simulating outline moving component and the two four-cable stretching supporting units. The knee joint motion simulation device can simulate the motion characteristics of knee joints in the bending and stretching process by arranging the femur contour simulation motion assembly, promotes the bionic property and motion coordination of the mechanism, and ensures the mechanism to have supporting capability and adaptability in the motion process by the two-rod four-cable tensioning supporting unit and the bilateral linkage mechanism, thereby ensuring the motion consistency of two sides. The mechanism has the advantages of compact structure, reliable linkage and motion coordination, and can be applied to related bionic mechanical systems such as bionic robots, exoskeleton devices and the like.

Inventors

• SUN JIANWEI
• LI KEYU
• WANG DAPENG
• Luan Yipeng
• ZHANG SONGYU
• ZHANG HUIDAN

Assignees

• 长春工业大学

Dates

Publication Date

20260512

Application Date

20260413

Claims (6)

1. 1. A bionic joint mechanism based on a knee joint movement mechanism is characterized by comprising two four-bar four-cable stretching supporting units (1), a femur-imitating contour movement assembly (2), two side linkage mechanisms (3) and four drum curve matching mechanisms (4), wherein the two four-bar four-cable stretching supporting units (1) are in two groups, the femur-imitating contour movement assembly (2) is in one group, the two four-bar four-cable stretching supporting units (1) are symmetrically arranged on two sides of the femur-imitating contour movement assembly (2), the drum curve matching mechanisms (4) are in one group, rolling movement matching is carried out along the curve of the femur-imitating contour movement assembly (2) under the action of rope retraction matching, and the two side linkage mechanisms (3) are in two groups and are respectively arranged between the drum curve matching mechanisms (4) and the two four-bar four-cable stretching supporting units (1) to realize synchronization.
2. 2. The bionic joint mechanism based on the knee joint mechanism is characterized in that each group of two-rod four-cable stretching supporting units (1) comprises an arc-shaped supporting side plate (101), a straight supporting side plate (103), an inclined stretching spring (102) and supporting side plate hinge pins (104), in each group of two-rod four-cable stretching supporting units (1), the arc-shaped supporting side plate (101), the straight supporting side plate (103) and the supporting side plate hinge pins (104) are respectively arranged in four groups, the arc-shaped supporting side plate (101) and the straight supporting side plate (103) are arranged in a crossing mode, the tail ends of the arc-shaped supporting side plate and the straight supporting side plate are connected through the four inclined stretching springs (102) to form a two-rod four-cable structure, the middle upper portion of the arc-shaped supporting side plate (101) is provided with the straight slot holes, the supporting side plate hinge pins (104) are fixedly arranged at the position of the center-offset side, and the supporting side plate hinge pins (104) are slidably matched in the straight slot holes of the arc-shaped supporting side plate (101) so as to realize relative movement between the two supporting side plates.
3. 3. The bionic joint mechanism based on the knee joint mechanism according to claim 1, wherein the bionic femur profile motion assembly (2) comprises an upper supporting seat (201), an octahedral collecting groove (202), a grooved cylindrical collecting wire block (203), a central guide body (204) and an anti-drop end cover (205), wherein in the bionic femur profile motion assembly (2), one group of the central guide bodies (204) is arranged, each two groups of the upper supporting seat (201) and the anti-drop end cover (205), each four groups of the octahedral collecting wire groove (202) and the grooved cylindrical collecting wire block (203) are arranged, the whole central guide body (204) is in a femur profile shape, the outer surface of the central guide body is in a continuous smooth arc-shaped guide curved surface, the central guide body is in rolling motion fit with the drum curved surface matching mechanism (4), a plurality of weight-reducing through holes are formed in the end faces of the central guide body (204), protruding cylindrical installation parts are formed in the two ends, the installation parts are centrally provided with installation holes, the upper supporting seat (201) is in a stepped boss structure, the central guide body (204) is symmetrically installed on the top surface (204) and is used for connecting the two end covers (204) of the two-drop-off preventing units (204) respectively arranged on the two sides of the two-side guide units (204), the two ends of the rope are symmetrically arranged along the two end faces, four symmetrical array screw holes are formed around the notch, ten symmetrical array screw holes are formed around the notch, the symmetrical array screw holes are used for fixing the grooved cylindrical wire collecting block (203) at five positions to achieve fixation after rope tightening, the grooved cylindrical wire collecting block (203) is cylindrical, and spiral grooves are formed in the side faces of the grooved cylindrical wire collecting block.
4. 4. The bionic joint mechanism based on the knee joint movement mechanism is characterized in that each group of double-side linkage mechanisms (3) comprises an upper linkage support (301), a lower linkage support (302) and linkage tension springs (303), in each group of double-side linkage mechanisms (3), the upper linkage support (301) and the lower linkage support (302) are respectively and symmetrically arranged, the upper linkage support (301) and the lower linkage support (302) are integrally in an ear plate-shaped structure, through holes are formed in the upper ends of the upper linkage support (301), inner concave strip-shaped groove structures are formed in the lower ends of the upper linkage support (301), the lower linkage support (302) is integrally in a strip-shaped connecting body, connecting holes are formed in the lower ends of the lower linkage support (302) and are used for being matched with the drum curved surface matching mechanism (4), two ends of the linkage tension springs (303) are respectively connected with the side surfaces of the upper linkage support (301) and the side surfaces of the lower linkage support (302), the upper linkage support (301) and the lower linkage support (302) are symmetrically arranged on two sides of the upper linkage support and the lower linkage support (302) respectively, the upper linkage support (301) and the lower linkage support (302) are in a concave-convex embedded matching mode, and the concave-concave matching type groove structures are formed in the inner connecting structure, and the lower connecting body is formed in the lower end.
5. 5. The bionic joint mechanism based on the knee joint motion mechanism according to claim 1, wherein the drum curved surface matching mechanism (4) comprises a winding drum (401), a drum long rotating shaft (402) and a spacing sleeve (403), in the drum curved surface matching mechanism (4), the winding drum (401) and the drum long rotating shaft (402) are respectively in one group, the spacing sleeve (403) is divided into two groups, the winding drum (401) is of a centrally symmetrical calabash-shaped structure, the rotation center of the winding drum is provided with a through hole, two groups of spiral grooves are symmetrically arranged on the winding drum (401), the spacing sleeve (403) is of a sleeve structure, the drum long rotating shaft (402) is of a long straight round rod, and sequentially penetrates through an arc-shaped supporting side plate (101), the spacing sleeve (403), a lower linkage bracket (302) on the same side, the winding drum (401), the lower linkage bracket (302) on the other side, the spacing sleeve (403) on the other side and the arc-shaped supporting side plate (101) on the other side.
6. 6. The knee joint motion mechanism based on claim 5, wherein two ropes are symmetrically arranged in a spiral groove of the winding drum (401), and torsion forces applied to the winding drum (401) during curved surface motion of the femoral contour motion component (2) are balanced, so that the winding drum (401) performs compliant rolling motion matching along the curved surface of the femoral contour motion component (2).

Description

Bionic joint mechanism based on knee joint movement mechanism Technical Field The invention relates to the technical field of bionic mechanical structures, in particular to a bionic joint mechanism based on a knee joint movement mechanism. Background The knee joint is a key bearing and moving joint in the human lower limb movement system, and plays important roles of supporting weight, transmitting load, adjusting gesture, absorbing impact and the like in the processes of walking, running, squatting, buffering, landing and the like. Unlike simple revolute pair, the knee joint has complicated motion features of rolling, sliding and arm change coupling, and has excellent stable support capacity, buffering and damping capacity and self-adapting motion capacity under the synergistic effect of ligament, tendon, cartilage and peripheral muscle group. Therefore, knee joint motion mechanisms have long been important research objects in the fields of bionic mechanism design, robot joint design, exoskeleton auxiliary devices, prosthetic joint systems and the like. The existing bionic joint mechanism or artificial knee joint structure mostly adopts a single-shaft rotating structure, a common hinge structure or a simple connecting rod mechanism to realize bending and stretching movement. Although the structure is relatively simple and convenient to manufacture, the motion trail of the structure is generally greatly different from the real motion law of the knee joint of the human body, and the motion flexibility, the bearing stability and the buffering performance are difficult to be simultaneously considered. When bearing external impact or periodic load, the traditional rigid joint structure is also easy to have the problems of motion stiffness, abrupt load transfer, local stress concentration, insufficient comfortableness and the like, thereby limiting the further application of the traditional rigid joint structure in bionic robots, rehabilitation aids and intelligent wearing devices. In addition, although the mechanical properties of the existing partial joint mechanism are improved by adding an elastic element, a damping element or an auxiliary driving unit, the existing partial joint mechanism has the defects that the structural mechanism is not matched with the characteristics of the knee joint of a human body, the torque transmission relationship in the bending and stretching process is unreasonable, the motion guiding effect is limited, the buffering and resetting capability is difficult to cooperate and compromise, and the like. Particularly under complex working conditions, how to realize stable rotation, flexible buffering and motion performance optimization of the knee-like joint while ensuring the compactness of the joint structure is still a technical problem to be solved in the field. Therefore, it is necessary to provide a bionic joint mechanism based on a knee joint movement mechanism, so as to be more close to the movement law and mechanical characteristics of the knee joint of a human body, and solve the problems of single movement form, insufficient buffering capacity, poor stability, poor simulation and the like in the prior art, thereby improving the application performance of the joint mechanism in robots, exoskeleton devices, rehabilitation auxiliary equipment and bionic mechanical systems. Disclosure of Invention Aiming at the problems of insufficient imitation of joint mechanisms, poor motion coordination and the like in the prior art, the invention provides a bionic joint mechanism based on a knee joint motion mechanism. The mechanism has compact integral structure, the motion form is more close to the bending and stretching characteristics of the knee joint of the human body, has better motion stability, mechanical adaptability and supporting performance, can be applied to bionic robots, exoskeleton auxiliary devices, artificial limb joints and other bionic mechanical systems, is beneficial to improving the motion performance and the use effect of related devices, and promotes the development of bionic joint technology. The invention is realized by the following technical scheme that the device comprises two-rod four-cable tensioning support units arranged at two sides of a femur-simulated outline movement assembly, a drum curved surface matching mechanism matched with the femur-simulated outline movement assembly, and a double-side linkage mechanism for coordinating movement states of the two-side mechanism. The drum curved surface matching mechanism performs rolling motion along the curved surface of the femur contour simulating motion assembly under the action of rope retraction matching, winch type linkage with one side of rope wound and the other side of rope released is realized through rotation of the drum in the rolling process, and the double-side linkage mechanism is used for realizing synchronous linkage between the motion of the drum curved surface matching mechanism and the co